WO2023137788A1

WO2023137788A1 - Material tray transfer mechanism

Info

Publication number: WO2023137788A1
Application number: PCT/CN2022/074341
Authority: WO
Inventors: 林群; 林高宏
Original assignee: 琦星智能科技股份有限公司
Priority date: 2022-01-21
Filing date: 2022-01-27
Publication date: 2023-07-27
Also published as: CN114212503A

Abstract

The present application particularly relates to the technical field of material transfer mechanisms, and provides a material tray transfer mechanism. Two bearing support frames are connected and fixed to a first material tray of a lifting/lowering platform; linear guide rails are arranged between a bearing movable plate of the lifting/lowering platform and a table plate; a bearing is arranged at the tail ends of the two bearing support frames; the bearing is configured on a guide sliding groove comprised in a guide plate; the guide sliding groove has two higher ends having the same height, and a lower middle on the guide plate; linear guide rails are arranged between a bearing movable support of a translation platform and the table plate, so that a material tray clamping robotic arm clamps materials on the translation platform at a discharging position, and the lifting/lowering platform moves to a feeding position; the material tray clamping robotic arm clamps materials on the lifting/lowering platform at the discharging position, and the translation platform moves to the feeding position. The material tray transfer mechanism effectively improves the material conveying efficiency of the material tray clamping robotic arm, is ingenious in design and has high popularization and use value.

Description

A tray turnover mechanism

technical field

This application proposes a material tray turnover mechanism, which specifically relates to the technical field of material transportation.

Background technique

In the processing and production process of materials containing alloys, the relevant materials to be processed are first put into the trays, and then the trays are stacked together and transported to the processing equipment in the relevant production line for production and processing. When the trays are used for turnover, it is often necessary to separate the trays individually, and then replace the processed trays one by one, and the replacement needs to be performed at a specific position. Therefore, it is necessary to improve the corresponding tray turnover method on the production equipment.

Contents of the invention

Aiming at the deficiencies in the existing tray turnover technology, the present application provides a tray turnover mechanism, which is characterized in that it includes the tray clamping mechanical arm and a table, the table is provided with a lifting tray and a translation tray, the table is provided with a power device and a guiding mechanism, the power device drives the lifting tray and the translation tray to move horizontally along the length direction of the table support, and the guiding mechanism is used to drive the lifting tray to move vertically.

Preferably, the power device includes a driver arranged on the table, the output end of the driver is connected to an output wheel, the output wheel is provided with a synchronous belt, and the synchronous belt is provided with a first connecting piece and a second connecting piece, the first connecting piece is connected with the lifting tray, and the second connecting piece is connected with the translation tray.

Preferably, the guide mechanism includes:

A guide plate is arranged on the table, and the guide plate is provided with a guide chute;

a load-bearing movable plate, which is movably arranged on the table, and the load-bearing movable plate is connected to the first connecting piece;

A guide rod is threaded on the bearing movable plate and can move on the bearing movable plate;

A bearing support frame, one end of the bearing support frame is fixedly connected with the lifting tray, and the other end of the bearing support frame is slidably arranged in the guide chute.

Preferably, the lower ends of the translation tray on both sides of the width of the table are provided with movable supports, and linear guide rails are provided on the table, and the movable supports can slide along the linear guides.

Preferably, a linear guide rail is provided on the table, and the carrying movable plate can slide along the linear guide rail.

Preferably, a bearing is provided on a side of the bearing supporting frame close to the guide chute, and the bearing is arranged in the guide chute.

Preferably, the guide chute is U-shaped with two ends high and a middle bottom.

Preferably, the tray clamping mechanical arm includes:

The X-axis mounting frame is arranged in parallel along the length direction of the table;

A Z-axis mounting frame, one end of which is arranged on the X-axis mounting frame and can slide along the X-axis mounting frame;

A rotary joint arm, one end of the rotary joint arm is connected to the Z-axis mounting frame and can slide along the length direction of the Z-axis mounting frame, and at the same time, the rotary joint arm can rotate around the fulcrum of the Z-axis mounting frame, and the other end of the rotary joint arm is provided with a gripper.

Preferably, the jaws are composed of the first jaw, the second jaw and a swivel joint, and the first jaw and the second jaw are installed on the swivel joint.

Preferably, a swivel joint is provided on the swivel arm.

The beneficial effect of the present application is that: the material tray of the lifting tray is connected and fixed with two bearing support frames, the lifting tray is supported by the load-bearing movable support, a linear guide rail is arranged between the load-bearing movable support and the table plate, bearings are arranged at the ends of the two bearing support frames, and the bearing is arranged on the guide chute of the guide plate. The tray moves to the upper material level; the material tray clamping mechanical arm can clamp the material on the lifting tray at the material level position, and the translational tray moves to the upper material level. The use of the material tray turnover mechanism effectively improves the efficiency of material delivery by the tray clamping mechanical arm.

Description of drawings

Fig. 1 is an external structural diagram of a tray turnover mechanism of the present application;

Fig. 2 is a schematic structural diagram of a tray turnover mechanism of the present application;

Fig. 3 is a structural schematic diagram of the rotary joint of the tray clamping mechanical arm of a tray turnover mechanism of the present application;

Fig. 4 is a structure diagram of a tray turnover mechanism tray 1 and tray 2 of the present application;

Fig. 5 is a structure diagram of a tray turnover mechanism of the present application after tray 1 and tray 2 are moved;

Fig. 6 is a schematic diagram of a tray turnover mechanism driver and its connecting parts in the present application;

Fig. 7 is a schematic diagram of a guide plate of a tray turnover mechanism of the present application.

Reference signs:

Tray clamping mechanical arm 10, Z-axis mounting frame 11, X-axis mounting frame 12, rotating joint arm 13, rotating arm 130, lifting bracket 131, rotating joint 132, gripper 14, gripper one 141, gripper two 142, swivel joint 143;

Tray turnaround mechanism 20, material loading level 201, material taking level 202, material tray one 21, material tray two 22, lifting tray 23, bearing support frame 231, load movable plate 232, guide rod 233, bearing 234, translation tray 24, load movable bracket 241, guide plate 25, guide chute 251, table plate 26, linear guide rail 27, table plate support 28, driver 29, synchronous wheel 30, output wheel 301 , timing belt 31, first connector 32, second connector 33;

Processing equipment 40.

Detailed ways

The preferred embodiments of the present application are described in detail below in conjunction with accompanying drawings 1-7, so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer definition of the protection scope of the present application. These embodiments are only used to illustrate the present invention, rather than limit the present invention.

A tray turnover mechanism of the present application is composed of a tray clamping mechanical arm 10 for transporting materials, a tray turnover mechanism 20 for turnover materials, and processing equipment 40 . The tray turnover mechanism 20 is installed on the table support 28 , and the tray clamping mechanical arm 10 is located between the tray turnover mechanism 20 and the processing equipment 40 . The tray turnover mechanism 20 has a translation tray 24 and a lifting tray 23 , the initial state is that the translation tray 24 is located at the material fetching level 202 , and the lifting tray 23 is located at the loading level 201 . The material of the translation tray 24 of the tray turnover mechanism 20 is clamped one by one by the tray clamping mechanical arm 10 to the processing equipment 40 for processing. After the processing equipment 40 finishes processing the materials, the tray turnover mechanism 20 will move the lifting tray 23 full of materials to be processed to the pick-up position 202, and the translation tray 24 is also moved to the loading position 201. The translation tray 24 is manually loaded into the material on the table support 28. After the material processing on the lifting tray 23 is completed, the lifting tray 23 is returned to the upper material position 201 for loading and unloading.

The above-mentioned tray turnover mechanism 20 has a table board 26, a table board support 28, a feeding level 201, and a feeding level 202, and the table board 26 is provided with a power device and a guiding mechanism. The table 26 is fixed on the table support 28, the table 26 is provided with an upper material level 201 and a material fetching position 202, the material fetching position 202 is relatively located at one side of the swivel joint arm 13, the X-axis installation frame 12 is installed and fixed on the table support 28, and the lifting tray 23 has a material tray one 21, a bearing support frame 231, a bearing movable plate 232, a guide rod 233 and a bearing 234 installed on the guide rod 233; the translation tray 24 has a feed tray two 222 And carrying movable support 241. When starting to work, the first tray 21 on the loading level 201 is filled with materials to be processed, while the second tray 22 on the taking-up level 202 can be filled with no materials to be processed.

When the material tray clamping mechanical arm 10 clamps the material on the translational tray 24 at the position of the material taking level 202, the lifting tray 23 moves to the upper material level 201; It can effectively improve the efficiency of transporting materials by the tray clamping mechanical arm 10; the lifting tray 23 and the translation tray 24 of the tray turnover mechanism 20 have a flexible turnover mode, which effectively improves the safety of material loading and unloading personnel during loading and unloading.

The tray clamping robot 10 has a Z-axis mounting frame 11 , an X-axis mounting frame 12 , a rotary joint arm 13 and the like. The X-axis mounting frame 12 is installed and fixed on the material tray turnover mechanism 20, and the Z-axis mounting frame 11 is arranged on the X-axis mounting frame 12 in a vertical state. The swivel joint arm 13 has a swivel arm 130 , a lift bracket 131 , and a swivel joint 132 , and the end of the swivel arm 130 is connected to and fixed with a gripper 14 . A swivel joint 132 is arranged between the swivel arm 130 and the lifting bracket 131. The swivel joint 132 enables the swivel arm 130 to rotate. The lifting bracket 131 is set on the Z-axis mounting frame 11. A lifting device for moving the swivel arm 130 up and down is arranged between the lifting bracket 131 and the Z-axis mounting frame 11. Jaw 14 is made up of jaw one 141, jaw two 142 and swivel joint 143, and jaw one 141 and jaw two 142 are installed on the swivel joint 143, and the rotation of swivel joint 143 is used for changing the use of jaw one 141 or jaw two 142.

The first tray 21 full of materials to be processed is placed on the lifting tray 23 , and the second tray 22 is located on the top of the translation tray 24 . Elevating pallet 23 has two bearing support frames 231, several guide rods 233 and bearing movable plate 232, and lifting pallet 23 is connected and fixed with two bearing support frames 231 and several guide rods 233, and two bearing support frames 231 and several guide rods 233 are all vertical states. Two bearing support frames 231 and several guide rods 233 pass through the relief grooves provided on the table board 26, and several guide rods 233 clearance fit on the bearing movable plate 232 and pass through the bearing movable plate 232 for the use of several guide rods 233 lifting. Bearings 234 are arranged at the ends of the two bearing support frames 231 , and the bearings 234 are arranged on the guide chute 251 of the guide plate 25 , and the guide plate 25 is vertically fixed under the table board 26 . The guide chute 251 on the guide plate 25 is higher at both ends and equal in height, and the middle is lower.

Described guide mechanism comprises guide plate 25, bearing movable plate 241, guide rod 233 and bearing support frame 231, and linear guide rail 27 is provided between the bearing movable plate 232 of described lifting tray 23 and table plate 26, translation tray 24 is supported by bearing movable support 241, and linear guide rail 27 is provided between bearing movable support 241 and table plate 26. Also be provided with power unit on table board 26, power unit comprises the driver 29 that is arranged on the table board 26, and driver 23 is connected with an output wheel 301, and described output wheel 301 outputs power to synchronous wheel 30, drives synchronous belt 31 by synchronous wheel 30, is provided with first connector 32 and second connector 33 on synchronous belt 31, and first connector 32 and second connector 33 are centrally symmetrically arranged on described synchronous belt 31, and bearing movable plate 232 and bearing movable support 241 are respectively The first connecting piece 32 and the second connecting piece 33 are connected, the second connecting piece 32 is connected with the fixed bearing movable plate 232, the first connecting piece 32 is connected with the bearing movable bracket 241, the first connecting piece 32 is connected with the synchronous belt 31 and the bearing movable plate 232, the first connecting piece 32 is connected with the synchronous belt 31 and the bearing movable bracket 241, the second connecting piece 32 is connected with the synchronous belt 32 and the bearing movable plate 232, the width of the lifting tray 23 can carry the movable bracket 241, the lower shape in the middle of the guide chute 251 mentioned above The lifting tray 23 can be lowered as a whole, so that the lifting tray 23 can pass through the carrying movable support 241 . Driven by the driver 29, the first connector 32 is driven by the synchronous wheel 30 and the synchronous belt 31 to move, thereby realizing that the material tray 1 21 moves from the upper material position 201 to the material retrieval position 202 along the guide chute 251, and simultaneously the translation tray 24 is moved from the material retrieval position 202 to the upper material position 201, so that the material tray clamping mechanical arm 10 is always positioned on the material retrieval position 202 for the material retrieval on the table support 28, and the material tray clamping mechanical arm 10 is improved. delivery efficiency.

The above description is only one of the preferred implementation modes of the present application, and it is not intended to limit the present invention, nor therefore limit the scope of patent application of the present application. Any equivalent structure or equivalent process transformation made by using the shape, structure and principle of the description of the application and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields; within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., are covered within the scope of patent protection of the present application.

Claims

A tray turnover mechanism, characterized in that it comprises the tray clamping mechanical arm (10) and a table (26), the table (26) is provided with a lifting tray (23) and a translation tray (24), the table (26) is provided with a power device and a guide mechanism, the power device drives the lift tray (23) and translation tray (24) to move horizontally along the length direction (28) of the table support, and the guide mechanism is used to drive the lift tray (23) to move vertically.
The tray turnover mechanism according to claim 1, wherein the power device includes a driver (29) arranged on the table (26), the output end of the driver (29) is connected to an output wheel (301), the output wheel (301) is provided with a timing belt (31), the timing belt (31) is provided with a first connecting piece (32) and a second connecting piece (33), the first connecting piece (32) is connected with the lifting tray (23), the second connecting piece A piece (33) is connected with the translation pallet (23).
The tray turnover mechanism according to claim 2, wherein the guide mechanism comprises:

The guide plate (25) is arranged on the table board (26), and the guide plate (25) is provided with a guide chute (251);

a load-bearing movable plate (241), which is movably arranged on the table (26), and the load-bearing movable plate (241) is connected to the first connecting member (32);

A guide rod (233), which is threaded on the load-bearing movable plate (241) and can move on the load-bearing movable plate (241);

A bearing support frame (231), one end of the bearing support frame (231) is fixedly connected with the lifting tray (23), and the other end of the bearing support frame (231) is slidably arranged in the guide chute (251).
The tray turnover mechanism according to claim 1, 2 or 3, wherein the translational tray (24) is provided with a load-bearing movable support (241) at the lower ends of both sides of the width of the table (26), the table (26) is provided with a linear guide rail (27), and the load-bearing movable support (241) can slide along the linear guide (27).
The tray turnover mechanism according to claim 3, characterized in that, the table (26) is provided with a linear guide rail (27), and the carrying movable plate (232) can slide along the linear guide rail (27).
The tray turnover mechanism according to claim 3, characterized in that, a bearing (234) is provided on a side of the bearing support frame (231) close to the guide chute (251), and the bearing (234) is arranged in the guide chute (251).
The tray turnover mechanism according to claim 3, characterized in that, the guide chute (251) is U-shaped with two ends high and a middle bottom.
The tray turnover mechanism according to claim 1, characterized in that, the tray clamping mechanical arm comprises:

The X-axis mounting bracket (12) is arranged in parallel along the length direction of the table board (26);

a Z-axis mounting frame (11), one end of which is arranged on the X-axis mounting frame (12) and can slide along the X-axis mounting frame (12);

A rotary articulated arm (13), one end of the rotary articulated arm (13) is connected to the Z-axis mounting frame (11) and can slide along the length direction of the Z-axis mounting frame (11), while the rotary articulated arm (13) can rotate around the fulcrum of the Z-axis mounting frame (11), and the other end of the rotary articulated arm (13) is provided with a gripper (14).
The tray turnover mechanism according to claim 8, characterized in that the jaws (14) are composed of jaw one (141), jaw two (142) and a swivel joint (143), and the first jaw (141) and the second jaw (142) are installed on the swivel joint (143).
The tray turnover mechanism according to claim 8, characterized in that a rotary joint (132) is arranged on the rotary arm (130).